Spaceflight launching task path planning method and device, electronic equipment and medium

Abstract

The invention provides a spaceflight launching task path planning method and device, electronic equipment and a medium, and the method comprises the steps: carrying out the information extraction of geographic information corresponding to a spaceflight launching task, and constructing a geographic topological relation graph; according to a hierarchical relationship among different nodes, splitting the geographic topological relation graph to obtain a plurality of geographic topological relation sub-graphs; determining a plurality of candidate planning paths in each geographic topological relation sub-graph, screening the plurality of candidate planning paths based on space launch task efficiency parameters to determine a local planning path corresponding to the geographic topological relation sub-graph, and connecting the first local planning path with the second local planning path to obtain a second local planning path corresponding to the geographic topological relation sub-graph. And generating an optimal global planning path. By adopting the spaceflight launching task path planning method and device, the electronic equipment and the medium, the problem that the search time of a path planning algorithm is long when the road network scale is relatively large, the search space and the complexity of the spaceflight launching task are relatively high is solved.

Description

Technical Field

[0001] The present application relates to the technical field of path planning, and in particular to a method, device, electronic equipment and medium for space launch mission path planning. Background Art

[0002] Path planning technology emerged in the fields of robotics and artificial intelligence. Its main purpose is to study the autonomous reasoning, planning and control capabilities of artificial intelligence technology in various environments. Path planning has developed rapidly in recent years and has been promoted and applied to other fields, such as intelligent transportation, logistics transportation, and space launch missions. In space launch missions, path planning is an important part of the vehicle positioning and navigation system. Its main task is to provide one or more routes from the starting point to the target point for space launch missions. With the continuous changes in the needs of reconnaissance, surveying and mapping, emergency network replenishment and mobile launch are gradually increasing, and the launch site selection no longer adopts the preset mode. This requires the realization of mobile and fast path planning from the central warehouse to the launch site based on mission requirements, aerospace equipment, the characteristics of the launch vehicle, and the support conditions of logistics equipment.

[0003] However, existing path planning methods usually use preset path planning algorithms. When the road network is large and the search space and space launch mission are complex, the search time of the path planning algorithm will be greatly extended. The characteristics of the space launch mission are not taken into account and it is difficult to meet the special needs of the space launch mission. Summary of the invention

[0004] In view of this, the purpose of this application is to provide a space launch mission path planning method, device, electronic device and medium to solve the problem that when the road network is large, the search space and the complexity of the space launch mission are high, the path planning algorithm has a long search time, does not take into account the characteristics of the space launch mission, and is difficult to meet the special needs of the space launch mission.

[0005] In a first aspect, an embodiment of the present application provides a method for space launch mission path planning, including:

[0006] Extract geographic information corresponding to space launch missions and construct a geographic topology relationship diagram, which includes nodes at multiple levels;

[0007] According to the hierarchical relationship between different nodes, the geographic topology relationship graph is split to obtain multiple geographic topology relationship subgraphs;

[0008] Determine multiple candidate planning paths in each geographic topological relationship subgraph, and screen the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topological relationship subgraph, where the local planning path includes a first local planning path and a second local planning path;

[0009] The first local planning path is connected with the second local planning path to generate the best global planning path.

[0010] Optionally, the nodes include a first node corresponding to the starting point and the end point, a second node that is a set number of layers away from the first node, and a third node except the first node and the second node.

[0011] Optionally, the multiple geographic topology relationship subgraphs include a first geographic topology relationship subgraph and a second geographic topology relationship subgraph, and the geographic topology relationship graph is split according to the hierarchical relationship between different nodes, including: splitting the geographic topology relationship graph using the second node corresponding to each first node to obtain the second geographic topology relationship subgraph; splitting the geographic topology relationship graph using the third node to obtain the first geographic topology relationship subgraph.

[0012] Optionally, multiple candidate planning paths in each geographic topology relationship subgraph are determined, including: for each candidate planning path of the geographic topology relationship subgraph, starting from the source node, the remaining nodes connected to the source node are added to the candidate planning path in sequence according to the weight classification corresponding to the candidate planning path, until all nodes in the geographic topology relationship subgraph are traversed.

[0013] Optionally, multiple candidate planning paths are screened based on the space launch mission performance parameters, including: determining, for the first geographic topological relationship subgraph, parameter values ​​of the space mission performance parameters of each edge in the first geographic topological relationship subgraph; and selecting a local planning path of the geographic topological relationship subgraph from multiple candidate planning paths based on the parameter values ​​of the space mission performance parameters.

[0014] Optionally, multiple candidate planning paths are screened based on the space launch mission performance parameters, and the method also includes: for the second geographic topology relationship subgraph, based on the node connection relationship between the geographic topology relationship subgraphs, selecting a second local planning path from the multiple candidate planning paths corresponding to the second geographic topology relationship subgraph to connect the first local planning path with the second local planning path.

[0015] Optionally, information is extracted from the geographic information corresponding to the space launch mission to construct a geographic topological relationship diagram, including: extracting intersections from the geographic information as nodes, and extracting drivable roads from the geographic information as edges; determining the weight of each edge based on the distance between adjacent nodes; and using weighted edges to connect multiple nodes to construct a geographic topological relationship diagram.

[0016] In a second aspect, an embodiment of the present application further provides a space launch mission path planning device, the device comprising:

[0017] A relationship graph construction module is used to extract geographic information corresponding to the space launch mission and construct a geographic topology relationship graph, which includes multiple nodes at different levels;

[0018] A relationship graph splitting module is used to split the geographic topology relationship graph according to the hierarchical relationship between different nodes to obtain multiple geographic topology relationship subgraphs;

[0019] A path screening module is used to determine multiple candidate planning paths in each geographic topological relationship subgraph, and screen the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine the local planning path corresponding to the geographic topological relationship subgraph, where the local planning path includes a first local planning path and a second local planning path;

[0020] The path generation module is used to connect the first local planning path with the second local planning path to generate an optimal global planning path.

[0021] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above-mentioned space launch mission path planning method are performed.

[0022] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the space launch mission path planning method as described above are executed.

[0023] The embodiments of the present application bring the following beneficial effects:

[0024] The embodiments of the present application provide a method, device, electronic device and medium for space launch mission path planning, which can split the geographic topology relationship graph according to the hierarchical relationship between different nodes, and determine the candidate planning paths corresponding to each geographic topology relationship subgraph in parallel, thereby improving the efficiency of path planning and shortening the search time. At the same time, the space launch mission performance parameters are used to screen the candidate planning paths to select the local planning paths that better meet the requirements of the space launch mission, and then generate the best global planning path based on the screened local planning paths. Compared with the space launch mission path planning method in the prior art, it solves the problem that when the road network scale is large, the search space and the complexity of the space launch mission are high, the search time of the path planning algorithm is long, the characteristics of the space launch mission are not considered, and it is difficult to meet the special needs of the space launch mission.

[0025] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A flow chart of a space launch mission path planning method provided in an embodiment of the present application is shown;

[0028] Figure 2 A schematic diagram showing a geographical topological relationship diagram provided in an embodiment of the present application is shown;

[0029] Figure 3 A schematic diagram showing the structure of a space launch mission path planning device provided in an embodiment of the present application is shown;

[0030] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0031] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0032] It is worth noting that before this application was filed, path planning technology emerged in the field of robotics and artificial intelligence, and quickly became one of the research hotspots in related fields. Its main purpose is to study the ability of artificial intelligence technology to autonomously reason, plan and control in various environments. Path planning algorithms were first used in autonomous mobile robots developed by Stanford Research Institute. In recent years, they have been rapidly developed and applied to other fields, such as intelligent transportation, logistics transportation, and space launch missions. In space launch missions, path planning is an important part of the vehicle positioning and navigation system. Its main task is to provide one or more routes from the starting point to the target point for space launch missions. With the continuous changes in the needs of reconnaissance, mapping, etc., emergency network replenishment and mobile launch have gradually increased, and the launch site selection no longer adopts the preset mode. This requires the realization of mobile and fast path planning from the central warehouse to the launch site based on mission requirements, aerospace equipment, the characteristics of the launch vehicle, and the support conditions of logistics equipment. However, existing path planning methods usually use preset path planning algorithms. When the road network is large and the search space and space launch mission are complex, the search time of the path planning algorithm will be greatly extended. The characteristics of the space launch mission are not taken into account and it is difficult to meet the special needs of the space launch mission.

[0033] Based on this, an embodiment of the present application provides a space launch mission path planning method to reduce the search time and meet the special needs of the space launch mission.

[0034] See also Figure 1 , Figure 1 This is a flow chart of a method for space launch mission path planning provided by an embodiment of the present application. Figure 1 As shown, the space launch mission path planning method provided in the embodiment of the present application includes:

[0035] Step S101, extracting geographic information corresponding to the space launch mission and constructing a geographic topological relationship diagram;

[0036] Step S102, splitting the geographic topology relationship graph according to the hierarchical relationship between different nodes to obtain multiple geographic topology relationship subgraphs;

[0037] Step S103, determining multiple candidate planning paths in each geographic topology relationship subgraph, and screening the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topology relationship subgraph, where the local planning path includes a first local planning path and a second local planning path;

[0038] Step S104: connect the first local planning path and the second local planning path to generate an optimal global planning path.

[0039] The space launch mission path planning method provided in the embodiment of the present application can split the geographic topology relationship graph according to the hierarchical relationship between different nodes, and determine the candidate planning paths corresponding to each geographic topology relationship subgraph in parallel, thereby improving the path planning efficiency and shortening the search time. At the same time, the space launch mission performance parameters are used to screen the candidate planning paths to select the local planning paths that better meet the requirements of the space launch mission, and then generate the best global planning path based on the screened local planning paths. Compared with the space launch mission path planning method in the prior art, it solves the problem that when the road network scale is large, the search space and the complexity of the space launch mission are high, the path planning algorithm has a long search time, does not take into account the characteristics of the space launch mission, and is difficult to meet the special needs of the space launch mission.

[0040] To facilitate understanding of this embodiment, each of the above exemplary steps provided in the embodiment of the present application is described below.

[0041] In step S101, the geographic information corresponding to the space launch mission is extracted to construct a geographic topological relationship diagram.

[0042] In this step, the geographic information may refer to the geographic information of the area between the starting point and the end point of the space launch mission. The geographic information includes intersection information and road information. The road information includes road location, road length, road slope, turning radius, road type, and terrain information. The intersection information includes the intersection location and the roads or sections connected to the intersection.

[0043] A geographic topology relationship diagram may refer to a topology diagram that describes the road connection relationship between a starting point and an end point, and the geographic topology relationship diagram includes multiple nodes at different levels and edges used to connect adjacent nodes. Among them, the starting point may refer to the starting point of a space launch mission, that is, the departure point of a space launch mission; the end point may refer to the end point of a space launch mission, that is, the destination of a space launch mission; the node is used to represent the actual intersection; and the edge is used to represent the road connecting the intersection.

[0044] In an embodiment of the present application, when constructing a geographic topological relationship diagram, intersections can be extracted from geographic information as nodes of the geographic topological relationship diagram, and drivable roads can be extracted from geographic information as edges of the geographic topological relationship diagram. Then, based on the distance between adjacent nodes, the weight of each edge is determined. Here, due to the particularity of the space launch mission, it is necessary to evaluate the passability of the road from multiple dimensions. For this reason, not only the length of the road needs to be considered, but also factors such as the slope and turning radius of the road need to be considered. For example: for adjacent nodes A and B, the weight sum of the distance (road length), road slope and turning radius between node A and node B can be determined as the weight corresponding to the edge between node A and node B. Finally, multiple nodes are connected using weighted edges to construct a geographic topological relationship diagram. Among them, the shorter the distance between nodes, the greater the weight; the longer the distance between nodes, the smaller the weight. The steeper the road slope, the smaller the weight, and the flatter the road slope, the greater the weight. The larger the turning radius, the greater the weight; the smaller the turning radius, the smaller the weight.

[0045] In step S102, the geographic topology relationship graph is split according to the hierarchical relationship between different nodes to obtain a plurality of geographic topology relationship subgraphs.

[0046] In this step, the geographic topology relationship diagram includes multiple nodes, and the multiple nodes are divided into three levels.

[0047] The multiple nodes include the starting point and the end point of the space launch mission. The three-level nodes include the first node corresponding to the starting point and the end point, the second node within the set number of layers from the first node, and the third node other than the first node and the second node. Among them, the second node actually refers to the node connected to the first node. When the number of layers is set to three, all nodes directly connected to the first node and connected to the first node via one or two nodes are second nodes. For example: if node N1 is directly connected to the nearest first node, then node N1 is one layer away from the first node and belongs to the second node; if node N2 is connected to the nearest first node through another node, then node N2 is two layers away from the first node and also belongs to the second node; if node N3 is connected to the nearest first node through another two nodes, then node N3 is three layers away from the first node and also belongs to the second node.

[0048] As an example, the starting point and the end point are taken as the nodes of the first level, also called the first node; the node three levels away from the first node is taken as the node of the second level, also called the second node; the remaining nodes except the first node and the second node are called the third nodes.

[0049] In an optional embodiment, in order to improve the processing efficiency of the path planning algorithm, the geographic topology relationship graph can be split into multiple geographic topology relationship subgraphs, and the multiple geographic topology relationship subgraphs include a first geographic topology relationship subgraph and a second geographic topology relationship subgraph. Here, the geographic topology relationship graph can be split using the second node corresponding to each first node to obtain the second geographic topology relationship subgraph, and at the same time, the geographic topology relationship graph can be split using the third node to obtain the first geographic topology relationship subgraph.

[0050] Refer to the following Figure 2 Let's introduce the geographic topology diagram.

[0051] Figure 2 A schematic diagram of a geographical topological relationship diagram provided in an embodiment of the present application is shown, such as Figure 2 As shown, node a1 is the starting point of this space launch mission, and node b1 is the end point of this space launch mission, so node a1 and node b1 are both first nodes. Assume that the number of layers is set to 3. Since nodes a11, a12, a13, a21, a22, a23, and a24 are all within three layers away from node a1, and nodes b11, b12, b13, b21, b22, b23, and b24 are all within three layers away from node b1, then nodes a11, a12, a13, a21, a22, a23, a24, b11, b12, b13, b21, b22, b23, and b24 are all second nodes, and the topological relationship graph corresponding to the first node a1 and the second nodes a11, a12, a13, a21, a22, a23, and a24 is the second geographic topological relationship subgraph, and the topological relationship graph corresponding to the first node b1 and the second nodes b11, b12, b13, b21, b22, b23, and b24 is also the second geographic topological relationship subgraph. The remaining nodes a31, ..., b31 are all third nodes, and the topological relationship graph corresponding to the third nodes a31, ..., b31 is the first geographic topological relationship subgraph. At the same time, the value on the edge between two adjacent nodes is the weight of the edge, for example: the weight of edge a1a13 is 5.

[0052] In step S103, multiple candidate planning paths in each geographic topology relationship subgraph are determined, and the multiple candidate planning paths are screened based on the space launch mission effectiveness parameters to determine the local planning path corresponding to the geographic topology relationship subgraph.

[0053] In this step, the candidate planning path may refer to a path in the geographic topology relationship subgraph that can be used to perform a space launch mission, that is, a connected path that travels from the starting point of the geographic topology relationship subgraph to the end point of the geographic topology relationship subgraph.

[0054] When determining multiple candidate planning paths in each geographic topology relationship subgraph, for each candidate planning path in the geographic topology relationship subgraph, starting from the source node and according to the weight classification corresponding to the candidate planning path, the remaining nodes connected to the source node are added to the candidate planning path in turn until all nodes in the geographic topology relationship subgraph are traversed.

[0055] The source nodes corresponding to the first geographic topology subgraph are virtual nodes, which are set to facilitate the calculation of candidate planning paths. Virtual nodes are two non-actual nodes. Each virtual node is connected to the outermost node of the first geographic topology subgraph and the weights of the connected edges are equal; the source node corresponding to the second geographic topology subgraph is the starting point or the end point.

[0056] Taking the second geographic topological relationship subgraph corresponding to the first node a1 and the second nodes a11, a12, a13, a21, a22, a23, and a24 as an example, determine the first candidate planning path. Take the first node a1 as the source node, set the first node set and the second node set, the first node set includes a1, and the second node set includes a11, a12, a13, a21, a22, a23, and a24. When determining the first section, the weight of a1→a11 is 3, the weight of a1→a12 is 4, and the weight of a1→a13 is 5. Select the node a13 with the largest weight and add it to the first node set. At this time, the first node set includes a1 and a13, and remove a13 from the second node set. At this time, the second node set includes a11, a12, a21, a22, a23, and a24, and record the node a12 with the second largest weight. When determining the second section, take a13 as the intermediate node and continue searching from a1→a13. The weight of a1→a13→a12 is 10, the weight of a1→a13→a23 is 8, and the weight of a1→a13→a24 is 9. Select the node a12 with the largest weight and add it to the first node set. At this time, the first node set includes a1, a13 and a12. Remove a12 from the second node set. At this time, the second node set includes a11, a21, a22, a23, a24, and record the node a23 with the second largest weight. Repeat the above process until the last section of the first candidate planning path in the second geographic topology relationship subgraph is selected. Among them, the last node of the last section is a set virtual node, and the weight between the virtual node and the nodes a21, a22, a23, and a24 is the same. The larger the weight of the edge, the higher the weight ranking, and the smaller the weight of the edge, the lower the weight ranking.

[0057] When determining the second candidate planning path, compare all the second largest weights recorded, select the node corresponding to the weight closest to the source node and with the largest value from all the second largest weights as the replacement path node, and add the nodes with the largest weight to the first node set in sequence according to the above method starting from the replacement path node to obtain the second candidate planning path. For example: the first candidate planning path is a1→a13→a12→a22→a23, then since the weight with the largest value among the second largest weights closest to the source node is a22→a11 corresponding to the weight 4, the replacement path node is a11, so the part of the second candidate planning path before the replacement path node is a1→a13→a12→a22→a11, and then a11 is used as the intermediate node, and the nodes with the largest weight are added to the first node set corresponding to the second candidate planning path in sequence according to the principle of maximum weight, until the entire second candidate planning path is determined.

[0058] When determining the third candidate planning path, compare all the second largest weights recorded except the replacement path node corresponding to the second candidate planning path, select the node corresponding to the weight closest to the source node and with the largest value from the remaining second largest weights as the replacement path node, and start from the replacement path node. Add the nodes with the largest weights to the first node set in turn according to the above method to obtain the third candidate planning path.

[0059] By analogy, multiple candidate planning paths of the second geographic topological relationship subgraph can be determined.

[0060] The methods for determining multiple candidate planning paths corresponding to the remaining geographic topology subgraphs are the same as above and will not be repeated here. The difference is that the first geographic topology subgraph uses the virtual node as the source node, and the second geographic topology subgraph uses the first node b1 as the source node.

[0061] In one example, the space launch mission performance parameter can be used to screen multiple candidate planning paths. The space launch mission performance parameter may refer to a parameter that affects the efficiency of the space launch mission. As an example, the space launch mission performance parameter includes at least one of the following items: mobility, concealment, and frequency of use. Mobility is used to characterize the difficulty of changing the path when the space launch mission is executed through the road section. The mobility is determined based on the roads and road types connecting the road section. The easier it is to change the path, the stronger the mobility, and the more difficult it is to change the path, the worse the mobility; concealment is used to characterize the possibility of being observed by aerospace observation equipment when the space launch mission is executed through the road section. The concealment is calculated based on the terrain and road type of the area where the road section is located. The stronger the concealment, the easier it is to complete the space launch mission, and the worse the concealment, the more difficult it is to complete the space launch mission: the frequency of use is used to characterize the frequency of vehicles traveling on the road section. Among them, the terrain includes mountainous areas, plains, and deserts, and the road types include mountain tunnels, urban tunnels, and viaducts.

[0062] In one case, for the first geographic topological relationship subgraph, the parameter value of the space mission efficiency parameter of each edge in the first geographic topological relationship subgraph is determined, that is, the value of the space mission efficiency parameter of each road section, and the efficiency evaluation index of each candidate planning path is determined based on the parameter values ​​of multiple space mission efficiency parameters, and the candidate planning path with the largest efficiency evaluation index is selected from the multiple candidate planning paths as the first local planning path corresponding to the first geographic topological relationship subgraph.

[0063] In another case, for the second geographic topology relationship subgraph, based on the node connection relationship between the geographic topology relationship subgraphs, a second local planning path is selected from a plurality of candidate planning paths corresponding to the second geographic topology relationship subgraph to connect the first local planning path with the second local planning path. For example: according to the actual connection relationship between the nodes in the geographic topology relationship graph, from the plurality of candidate planning paths of the second geographic topology relationship subgraph corresponding to the starting point, a planning path that can be connected to the candidate planning path corresponding to the first geographic topology relationship subgraph is selected as the second local planning path of the second geographic topology relationship subgraph corresponding to the starting point. Similarly, according to the actual connection relationship between the nodes in the geographic topology relationship graph, from the plurality of candidate planning paths of the second geographic topology relationship subgraph corresponding to the end point, a planning path that can be connected to the candidate planning path corresponding to the first geographic topology relationship subgraph is selected as the second local planning path of the second geographic topology relationship subgraph corresponding to the end point.

[0064] In step S104, the first local planning path and the second local planning path are connected together to generate an optimal global planning path.

[0065] In this step, the local planned path includes a first local planned path and a second local planned path corresponding to a starting point and an end point.

[0066] In the embodiment of the present application, there may be multiple first local planning paths and multiple second local planning paths. For each first local planning path, the first local planning path is combined with each two second local planning paths corresponding to the starting point and the end point to obtain a global planning path. Then, the weight of each global planning path is determined, and the global planning path with the smallest weight is selected as the best global path.

[0067] Based on the same inventive concept, an embodiment of the present application also provides a space launch mission path planning device corresponding to the space launch mission path planning method. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned space launch mission path planning method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0068] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a space launch mission path planning device provided in an embodiment of the present application. Figure 3 As shown in , the space launch mission path planning device 300 includes:

[0069] A relationship diagram construction module 301 is used to extract geographic information corresponding to the space launch mission and construct a geographic topology relationship diagram, which includes multiple nodes at different levels;

[0070] A relationship graph splitting module 302 is used to split the geographic topology relationship graph according to the hierarchical relationship between different nodes to obtain multiple geographic topology relationship subgraphs;

[0071] A path screening module 303 is used to determine multiple candidate planning paths in each geographic topological relationship subgraph, and screen the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topological relationship subgraph, where the local planning path includes a first local planning path and a second local planning path;

[0072] The path generation module 304 is used to connect the first local planning path and the second local planning path to generate an optimal global planning path.

[0073] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0074] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 The steps of the space launch mission path planning method in the method embodiment shown in the figure, the specific implementation method can be found in the method embodiment, and will not be repeated here.

[0075] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 The steps of the space launch mission path planning method in the method embodiment shown in the figure, the specific implementation method can be found in the method embodiment, and will not be repeated here.

[0076] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0077] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0078] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0079] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0080] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0081] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A space launch mission path planning method, characterized in that: include: Extracting geographic information corresponding to the space launch mission and constructing a geographic topology relationship diagram, wherein the geographic topology relationship diagram includes multiple nodes at different levels; According to the hierarchical relationship between different nodes, the geographic topology relationship graph is split to obtain multiple geographic topology relationship subgraphs; Determine a plurality of candidate planning paths in each geographic topological relationship subgraph, and screen the plurality of candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topological relationship subgraph, wherein the local planning path includes a first local planning path and a second local planning path; The first local planning path and the second local planning path are connected together to generate an optimal global planning path.

2. The method according to claim 1, characterized in that The nodes include a first node corresponding to a start point and an end point, a second node that is a set number of layers away from the first node, and a third node except the first node and the second node.

3. The method according to claim 2, characterized in that The plurality of geographic topology relationship subgraphs include a first geographic topology relationship subgraph and a second geographic topology relationship subgraph, and the geographic topology relationship graph is split according to the hierarchical relationship between different nodes, including: Splitting the geographic topology relationship graph using the second node corresponding to each first node to obtain a second geographic topology relationship subgraph; The geographic topology relationship graph is split using the third node to obtain a first geographic topology relationship subgraph.

4. The method according to claim 1, characterized in that The step of determining a plurality of candidate planning paths in each geographic topology relationship subgraph includes: For each candidate planning path of the geographic topology relationship subgraph, starting from the source node, the remaining nodes connected to the source node are added to the candidate planning path in sequence according to the weight classification corresponding to the candidate planning path, until all nodes in the geographic topology relationship subgraph are traversed.

5. The method according to claim 1, characterized in that The screening of the plurality of candidate planning paths based on the space launch mission effectiveness parameter includes: For the first geographic topology relationship subgraph, determining a parameter value of a space mission effectiveness parameter of each edge in the first geographic topology relationship subgraph; Based on the parameter value of the space mission effectiveness parameter, a local planning path of the geographic topological relationship subgraph is selected from the multiple candidate planning paths.

6. The method according to claim 1, characterized in that The screening of the plurality of candidate planning paths based on the space launch mission effectiveness parameter also includes: For the second geographic topology relationship subgraph, based on the node connection relationship between the geographic topology relationship subgraphs, a second local planning path is selected from multiple candidate planning paths corresponding to the second geographic topology relationship subgraph to connect the first local planning path with the second local planning path.

7. The method according to claim 1, characterized in that The extracting of geographic information corresponding to the space launch mission and constructing a geographic topological relationship diagram includes: Extracting intersections from the geographic information as nodes, and extracting drivable roads from the geographic information as edges; Determine the weight of each edge based on the distance between adjacent nodes; Use weighted edges to connect multiple nodes and build a geographic topology diagram.

8. A space launch mission path planning device, characterized in that: include: A relationship graph construction module is used to extract geographic information corresponding to the space launch mission and construct a geographic topology relationship graph, wherein the geographic topology relationship graph includes multiple nodes at different levels; A relationship graph splitting module is used to split the geographic topology relationship graph according to the hierarchical relationship between different nodes to obtain multiple geographic topology relationship subgraphs; A path screening module, used to determine multiple candidate planning paths in each geographic topological relationship subgraph, and screen the multiple candidate planning paths based on the space launch mission effectiveness parameter to determine a local planning path corresponding to the geographic topological relationship subgraph, wherein the local planning path includes a first local planning path and a second local planning path; The path generation module is used to connect the first local planning path and the second local planning path to generate an optimal global planning path.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the space launch mission path planning method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the space launch mission path planning method as described in any one of claims 1 to 7 are executed.

Images